code for putting the standard servos to their starting position?

is there a command for placing all the servos individually into their starting positions?

so I can calibrate the servos and then mount them to the coxa, femur and tibia.

since I'm running just a arduino mega without shields or pwm boards is that still possible? and if possible are there any wiring schematics?

there was also a servo called tar but I do not know what this refers to.